Slow spinning agitator with knocking sound

Check the bumper and springs on the drum assembly.

drain or drain pipes blocked
bearings gone

Check to see that the springs that hold the tub assembly to the frame are attached. Sounds like one may have come off on the machine.

Check shock absorbers, but Bearings and / or spider arm most likely bad. If so, that's a major repair and expense.

winephan,
I could be the pump slowly ceazing causing the belt to slip which would give a burning smell.
Motors in those units, are well build...have a service guy in but DON"t say anything about the motor.. because they will say it because you mentioned it
I sounds like you pump

washing machine are:

There's an error code on the digital display

It doesn't work at all
It won't drain
It doesn't spin
It doesn't agitate
It's noisy
It leaks
It's off balance
There's no hot water
There's no cold water
It's slow to fill
There's no water at all
The clothes are wet after spinning
The cycle doesn't advance
There's no delicate or regular spin or agitate
It's overfilling
It's underfilling
The water temperature is incorrect
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Leaks water...check the pump first. The fill valve and hoses may be the next step. See how to take apart info. With the use of plastic drain hoses on many machines today, this has become a common leak trouble maker. The drain hose can rub the wall or a pipe and this will rub a hole in the drain hose.
 

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Sounds like the whirling noise is the pump, pumping. Does it drain at all? Check the drive belt and make sure that it is not broken. This system uses a drive belt with a clutch system to agitate back and forth. The clutch system could be bad as well.

This might not be a cheap fix, these are the main components of the system

sounds like spin basket (clutch) is worn.replace.

Possible timer or drain problems.. ok.. when your washer is in rise.. before it goes into final spin.. it stop agitating, then drain water for about a minute or two.. listen to see if stop drain for a sec, then began to spin... when it come to draining.. make sure that you hear all the water flow out of your washer.. sometimes when you have a slow drain.. that can do it too.. but the first possible is likely.. good luck